| Summary: | 碩士 === 國立臺灣大學 === 生物產業機電工程學研究所 === 100 === In this study, a long-distance and wide-angle stereo system for real-time 3D model reconstruction was built. Compared with the Kinect (MicrosoftR Co.) camera, this device can work fine in the daytime outdoor, and the visual distance is longer, the viewing angle is wider. It can not only capture rich features, but also reduce the accumulation of errors and make the Loop closure much easier to be detected. In addition to using the SURF features to find two consecutive images of the two-dimensional corresponding feature points, this study further use cross check to do a preliminary filter in order to pick out the most appropriate corresponding map image. Then combine the feature points with the depth of information, using the RANSAC algorithm to remove the error of the corresponding point and calculate the most appropriate projection matrix to project the new image to map coordinates. After the model was reconstructed, and there is the loop closure detected, the algorithm of Graph-SLAM would be amended.
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